JPH0252044B2 - - Google Patents
Info
- Publication number
- JPH0252044B2 JPH0252044B2 JP60000560A JP56085A JPH0252044B2 JP H0252044 B2 JPH0252044 B2 JP H0252044B2 JP 60000560 A JP60000560 A JP 60000560A JP 56085 A JP56085 A JP 56085A JP H0252044 B2 JPH0252044 B2 JP H0252044B2
- Authority
- JP
- Japan
- Prior art keywords
- sensor
- laser beam
- spray gun
- laser
- marking device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 239000007921 spray Substances 0.000 claims description 29
- 239000003973 paint Substances 0.000 claims description 11
- 238000010276 construction Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 18
- 238000010422 painting Methods 0.000 description 5
- 238000007796 conventional method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000010626 work up procedure Methods 0.000 description 1
Landscapes
- Road Repair (AREA)
Description
【発明の詳細な説明】
この発明は道路標示装置に関する。従来道路に
直線を塗装で標示するためには、道路の一側から
直線を塗装する位置までの一定距離を測り一定間
隔毎に糸を張り、その糸に沿つて墨付を行い、そ
の墨付に沿つて直線を塗装していたもので、きわ
めて手間と時間がかかる上に、一般車輛も通行し
ている道路上の測定作業であるので、危険も大き
かつた。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a road marking device. Conventionally, in order to mark a straight line on a road by painting, measure a certain distance from one side of the road to the position where the straight line is to be painted, stretch a string at regular intervals, mark the line along the line, and then mark the line along the marked line. This involved painting straight lines, which was extremely time-consuming and labor-intensive, and was also very dangerous because the measurement work was carried out on roads that were also used by general vehicles.
そこでレーザー光線等の高指向性電磁波を応用
して、道路上に例えばレーザー光線発振機をお
き、塗装しようとする直線の方向にレーザー光線
の直線の光線又は面を発振し、作業車に取りつけ
たセンサーによつてレーザー光線を受け、それを
追尾して作業車を運転し、作業車に取りつけたス
プレーガンから塗料を噴射すれば、きわめて簡単
かつ正確に直線を塗装してゆくことができる。 Therefore, by applying highly directional electromagnetic waves such as laser beams, for example, a laser beam oscillator is placed on the road, and a straight beam or surface of the laser beam is oscillated in the direction of the straight line to be painted, which is detected by a sensor attached to a work vehicle. By receiving a laser beam, driving a work vehicle to track it, and spraying paint from a spray gun attached to the work vehicle, it is possible to paint straight lines extremely easily and accurately.
ところが、レーザー光線のセンサーとスプレー
ガンとの位置が車体上ではなれた位置にあると
き、作業車の運転方向が蛇行したりして、車体と
レーザー光線とが傾くと、センサーとスプレーガ
ンを結ぶ直線も亦レーザー光線に対して傾くの
で、直線塗装位置に誤差が生ずる惧がある。 However, if the laser beam sensor and the spray gun are located far apart on the vehicle body, and the vehicle is driven in a meandering direction and the vehicle body and laser beam are tilted, the straight line connecting the sensor and the spray gun may become distorted. Moreover, since it is tilted with respect to the laser beam, there is a risk that an error will occur in the straight line coating position.
この発明はこの誤差を生じないようにスプレー
ガンとセンサーをライン施行方向上に取りつける
か又はスプレーガンとセンサーを連結する制御部
を常にレーザー光線に対して直角にするようにし
た道路標示装置に関するものである。 This invention relates to a road marking device in which a spray gun and a sensor are installed in the line execution direction or a control unit connecting the spray gun and sensor is always at right angles to the laser beam in order to avoid this error. be.
図について説明すれば、第１図は従来の方法の
手順を示し、道路１の一側１１から、塗装しよう
とする直線の位置までの距離ｌを測定して、一定
間隔毎に基点２，３を定め、（その間隔は約30ｍ
位である）その間に糸４を張り、その糸に沿つて
墨付５を行い、その墨付５に沿つて、作業車又は
手押し施工機等によつて塗装を行つていた。この
従来の方法は極めて手間と時間がかかり、又点
２，３の測量は一般車輛も通行している道路上の
作業であるので危険も大であつた。 To explain the diagram, FIG. 1 shows the procedure of the conventional method, in which the distance l from one side 11 of the road 1 to the position of the straight line to be painted is measured, and base points 2 and 3 are measured at regular intervals. (The interval is approximately 30m.
A thread 4 is stretched between them, markings 5 are made along the thread, and painting is performed along the markings 5 using a work vehicle, hand-pushing machine, or the like. This conventional method was extremely time-consuming and labor-intensive, and was also very dangerous because the surveying at points 2 and 3 was carried out on roads that were also used by general vehicles.
そこで第２図に示すように、道路１上にレーザ
ー光線のような高指向性電磁波の発振機をおき、
（以下説明のため、レーザー光線として記載する）
塗装しようとする直線の方向にレーザー光線２１
を発振し、作業車２２に取りつけたセンサー２３
によつてレーザー光線２１を追尾しつつ、作業車
を運転し、センサー２３に、スプレーガン駆動部
２５を介して連結したスプレーガン２４から塗料
を噴射すれば極めて簡単、確実に直線を塗装する
ことができる。なお図で２６はペイントポンプ部
を示す。 Therefore, as shown in Figure 2, a highly directional electromagnetic wave oscillator such as a laser beam is placed on the road 1.
(For the sake of explanation, it will be described as a laser beam below.)
Laser beam 21 in the direction of the straight line to be painted
The sensor 23 attached to the work vehicle 22 oscillates
By driving the work vehicle while tracking the laser beam 21, and spraying paint from the spray gun 24 connected to the sensor 23 via the spray gun drive unit 25, it is possible to paint a straight line extremely easily and reliably. can. In the figure, 26 indicates a paint pump section.
しかしながら作業車の運転は、運転手の技倆に
も関係するが、完全に直進するのは至難であつ
て、第３図に示す如く作業車の軌跡ｋはある程度
蛇行することは免れない。するとセンサー２３が
レーザー光線２１から外れようとすると、それに
応じてセンサー２３が左右に動き、その動きがス
プレーガン駆動部２５を介してスプレーガン２４
に伝わりレーザー光線２１に一定間隔はなれ、レ
ーザー光線２１に平行に直線１０が塗装される。 However, although the driving of a work vehicle is also related to the skill of the driver, it is extremely difficult to drive the work vehicle in a completely straight line, and the trajectory k of the work vehicle inevitably winds to some extent as shown in FIG. Then, when the sensor 23 tries to move away from the laser beam 21, the sensor 23 moves left and right accordingly, and this movement is transmitted to the spray gun 24 via the spray gun drive section 25.
A straight line 10 is painted parallel to the laser beam 21 at a constant distance from the laser beam 21 .
尚レーザー光線２１は前述の如く、直線光線で
も面でもよいが、路面に高低がある表合、直線光
線では車体（即ちそれにとりつけられたセンサ
ー）の上下によつて、光線がセンサーから外れて
しまい、それを避けようとすれば可成大きなセン
サーを取りつける必要があるので、第２図に示す
ように面内にレーザー光線を発振した方が都合が
よい。 As mentioned above, the laser beam 21 may be a straight beam or a surface, but if the road surface is uneven, or if the laser beam is a straight beam, the beam will deviate from the sensor due to the up and down of the vehicle body (that is, the sensor attached to it). To avoid this, it is necessary to install a fairly large sensor, so it is more convenient to oscillate a laser beam within the plane as shown in FIG.
第４図に示すように、センサー２３とスプレー
ガン２４がスプレーガン駆動部２５を介してｌだ
けの間隔をつけて車体２２にとりつけられている
とき、車体が軌跡ｋに示す如く、蛇行し、レーザ
ー光線２１とαの角度をなしたとき、センサー２
３とスプレーガン２４とは、図の２３′と２４′に
示す如く、駆動部２５とともにやはりレーザー光
線に対してαだけ傾く。センサー２３はレーザー
光線２１に追尾して直線上を動きスプレーガン２
４′もそれに追随して動くが、レーザー光線から
の垂直距離はｌ losαとなり誤差△ｌ＝ｌ−ｌ
losαとなる。 As shown in FIG. 4, when the sensor 23 and the spray gun 24 are attached to the vehicle body 22 via the spray gun drive unit 25 with an interval of l, the vehicle body meanders as shown by the trajectory k. When the laser beam 21 forms an angle α, the sensor 2
3 and the spray gun 24 are also tilted by α with respect to the laser beam together with the drive section 25, as shown at 23' and 24' in the figure. The sensor 23 moves in a straight line tracking the laser beam 21 and the spray gun 2
4' also moves following it, but the vertical distance from the laser beam is l losα, and the error is △l = l - l
becomes losα.
この発明はこの誤差の発生を防ぐために、第５
図に示す如くセンサー２３と、スプレーガン２４
とをライン施工方向上に取りつけたものである。
即ちスプレーガン２４とセンサー２３とが、施行
すべきライン上に両者がのるように、施工ライン
を含む地面に垂直な面上にあるように設けられて
いるもので、センサー２３がレーザー光線２１を
追尾して移動しても、スプレーガン２４は駆動部
２５によりそれに追随して動き、センサーとスプ
レーガンが同一位置で動き、両者ともレーザー光
線２１に沿つて動くので、第４図に示すような誤
差は生じない。 In order to prevent this error from occurring, this invention
As shown in the figure, the sensor 23 and the spray gun 24
and are attached in the line construction direction.
That is, the spray gun 24 and the sensor 23 are installed on a plane perpendicular to the ground including the construction line so that they are both on the line to be constructed, and the sensor 23 emits the laser beam 21. Even if the spray gun 24 moves with tracking, the drive unit 25 moves the spray gun 24 to follow it, and the sensor and the spray gun move at the same position, and both move along the laser beam 21, so there is an error as shown in FIG. 4. does not occur.
なおここでライン施行方向上とは△ｌ＝ｌ−ｌ
losαで示す△ｌが許容誤差の範囲内に収まるよ
うなｌの程度離れていることまでは含むものであ
つて、この範囲内で離れている程度であればこの
発明の精神に入るものである。 Note that above the line execution direction is △l=l-l
This includes a deviation of l such that △l, indicated by losα, falls within the tolerance range, and any deviation within this range falls within the spirit of the invention. .
更にこの発明では誤差防止の装置として、第４
図の如く車体２２が傾いたときは、自動的に、セ
ンサー、スプレーガン、スプレーガン駆動部等を
含むスプレー制御部がレーザー光線に対し直角と
なる装置を提供する。 Furthermore, in this invention, a fourth device is used as an error prevention device.
As shown in the figure, when the vehicle body 22 is tilted, a spray control section including a sensor, a spray gun, a spray gun driving section, etc. is automatically set at right angles to the laser beam.
第６図は請求の範囲第２項に示すこの発明の装
置の説明図、第７図は第６図のＡ−Ａ矢視図、第
８図はこの発明の装置の作動図であつて装置はホ
ルダー４１によつて車体２２に取りつけられてい
る。駆動部２５の一端のセンサー２３には角度セ
ンサーブロツク３１，３２位置センサー３３，３
４が取りつけられている。今作業車が蛇行して車
体が傾くと、駆動部２５も傾くので、レーザー光
線が垂直でなく、傾いて入るようになり第８図に
示すようにセンサーブロツク３１か３２に入る。
するとそこからの信号により第７図に示す如くモ
ーター３５が作動し、プーリー３６を回転軸４５
を中心として矢印の如く何れかの方向に回転さ
せ、ベルト３７を介して駆動部２５を回動させ車
体の向きとは無関係に駆動部２５をレーザー光線
に直角にする。そうすれば車体の向きが少々変動
しても、駆動部２５はレーザー光線に直角を維持
するので誤差なく直線を塗装することができる。 FIG. 6 is an explanatory diagram of the apparatus of the present invention as set forth in claim 2, FIG. 7 is a view taken along arrow A-A in FIG. 6, and FIG. 8 is an operational diagram of the apparatus of the present invention. is attached to the vehicle body 22 by a holder 41. The sensor 23 at one end of the drive unit 25 includes angle sensor blocks 31, 32 and position sensors 33, 3.
4 is installed. Now, when the work vehicle is meandering and the vehicle body is tilted, the drive unit 25 is also tilted, so that the laser beam enters at an angle rather than vertically, and enters the sensor block 31 or 32 as shown in FIG.
Then, the signal from there causes the motor 35 to operate as shown in FIG.
The drive unit 25 is rotated through the belt 37 to make the drive unit 25 perpendicular to the laser beam, regardless of the direction of the vehicle body. In this way, even if the direction of the vehicle body changes slightly, the drive unit 25 maintains the direction perpendicular to the laser beam, making it possible to paint a straight line without error.
第９図に示す説明図から判るように、レーザー
光線がセンサーブロツク３１に入れば駆動部２５
は矢印R1方向に回動し、レーザー光線がセンサ
ーブロツク３２に入れば駆動部２５は矢印R2の
方向に回動し、車体２２の向きとは無関係に駆動
部２５がレーザー光線に対して直角となる。 As can be seen from the explanatory diagram shown in FIG. 9, if the laser beam enters the sensor block 31, the drive unit 25
rotates in the direction of arrow R1 , and when the laser beam enters the sensor block 32, the drive unit 25 rotates in the direction of arrow R2 , so that regardless of the orientation of the vehicle body 22, the drive unit 25 is perpendicular to the laser beam. Become.
再び第８図に示す説明図において、レーザー光
線が左右何れかのブロツク３１又は３２に届くま
での角度は許容範囲である。この許容範囲を調節
するため、センサー３１，３２のあるブロツクを
ノブ４０を廻して送りネジ３８によつて、位置セ
ンサー３３，３４に対して進退させる。（第６図
参照）第８図で判るように、角度センサー３１，
３２が位置センサー３３，３４から遠ざかるほど
許容範囲αが小さくなり、点線で示す如く、近づ
けば、許容範囲βは大きくなる。前述の如く位置
センサーは常にレーザー光線を受けているように
センサー部２３全体を左右に動かす信号を出して
いる。 In the explanatory diagram shown in FIG. 8 again, the angle at which the laser beam reaches either the left or right block 31 or 32 is within a permissible range. To adjust this tolerance range, the block with the sensors 31 and 32 is moved forward and backward relative to the position sensors 33 and 34 by turning the knob 40 and using the feed screw 38. (See Figure 6) As can be seen in Figure 8, the angle sensor 31,
The farther the sensor 32 is from the position sensors 33 and 34, the smaller the allowable range α becomes, and the closer the sensor 32 is to the position sensors 33 and 34, the smaller the allowable range β becomes. As mentioned above, the position sensor always outputs a signal to move the entire sensor section 23 left and right so that it is always receiving the laser beam.
第１０図は位置センサー２３、スプレーガン２
４、駆動部２５の関係を示す説明図、第１１図は
その作動説明図であつて、４１は前記の如く車体
に取りつけるホルダー、４２はホルダーネジ、４
３はクラツチ付モーター、４４はクラツチであつ
て、レーザー発振機２１からのレーザー光線２１
が発振され、センサー２３の区分２３Ｋの内中心
でない部分に入れば、そこから出る信号が配線５
０により、演算器４８、増巾器４９を経てクラツ
チ４４に入り、モーター４３の回転がクラツチ４
４で制御されて、ボールネジ４２を回動させ、セ
ンサー２３を常にレーザー光線を中心で受ける位
置に動かしその動きを支持板４６、それに固定さ
れた軸４７を介してスプレーガン２４を移動させ
る。 Figure 10 shows the position sensor 23 and spray gun 2.
4. An explanatory diagram showing the relationship of the drive unit 25, FIG. 11 is an explanatory diagram of its operation, 41 is a holder to be attached to the vehicle body as described above, 42 is a holder screw, 4
3 is a motor with a clutch, 44 is a clutch, and a laser beam 21 from a laser oscillator 21
is oscillated and enters a part of the sensor 23 that is not at the center of the section 23K, the signal from there is transmitted to the wiring 5.
0, the clutch 44 is entered through the arithmetic unit 48 and the amplifier 49, and the rotation of the motor 43 is applied to the clutch 44.
4, the ball screw 42 is rotated to move the sensor 23 to a position where the sensor 23 always receives the laser beam at the center, and this movement moves the spray gun 24 via the support plate 46 and a shaft 47 fixed thereto.
本発明の装置を取り付けると、第１２図、第１
４図に示すような利点がある。 When the device of the present invention is installed, FIG.
There are advantages as shown in Figure 4.
尚第１２図に示すように、センサー２３が車体
からつき出していて、レーザー光線を作業車進行
方向の前方からも後方からも受けられる場合は、
レーザー発振機２０から前後にレーザー光の検知
可能距離をＲとしたとき、作業車は図でＲ方向に
進行するものとして、左方のＡ地点１つセンサー
の前方にレーザー光を受け始め、レーザー発振機
２０の位置をあきると、今度はセンサーの背後に
レーザー光を受けＢ地点まで検知可能でありレー
ザー光線の検知可能距離の２倍まで作業できる。
又、第１３図に示す如く一般車輛３０がレーザー
光線を遮ぎり検知不可能になつたときは塗料の噴
射を停止するのがよい。さらに第１４図に示す如
くレザー発振機からのレーザー面を道路１の一側
１１に近ずければ一般車輛３０がレーザー面を遮
る危険が少なくなる。 As shown in Fig. 12, if the sensor 23 protrudes from the vehicle body and can receive the laser beam from both the front and rear in the direction of travel of the work vehicle,
Let R be the detectable distance of the laser beam from the laser oscillator 20 forward and backward. Assuming that the work vehicle is traveling in the R direction in the figure, it will begin to receive the laser beam in front of the sensor at point A on the left, and the laser When the position of the oscillator 20 is cleared, the sensor receives the laser beam behind the sensor and can detect it up to point B, and can work up to twice the detectable distance of the laser beam.
Further, as shown in FIG. 13, when a general vehicle 30 blocks the laser beam and the laser beam cannot be detected, it is preferable to stop spraying the paint. Furthermore, as shown in FIG. 14, if the laser beam from the laser oscillator is brought closer to one side 11 of the road 1, there is less danger that general vehicles 30 will block the laser beam.
この発明の路面標示装置はこのような構成であ
つて、作業車が蛇行するなど車体がレーザー光線
に対して傾いたときでも直線の塗装位置に誤差の
生じないような極めて実用度の高い路面標示装置
を得たものである。 The road marking device of the present invention has such a configuration and is extremely practical as it does not cause errors in the straight line painting position even when the vehicle body is tilted with respect to the laser beam, such as when the work vehicle is meandering. This is what I got.
第１図は従来の方法の説明図、第２図はレーザ
ー光線を用いた方法の説明図、第３図は作業車の
軌跡の説明図、第４図は誤差の発生状況の説明
図、第５図はこの発明の装置を示す図、第６図は
他の発明の装置を示す図、第７図は第６図の装置
の回動装置の説明図、第８図、第９図は第６図の
装置の作動の説明図、第１０図、第１１図はスプ
レーガン駆動部の構成を示す説明図、第１２図は
作業車のレーザー光線検知範囲を示す説明図、第
１３図、第１４図はレーザー光線と一般車輛との
関係を示す図である。
符号の説明、１……道路、１１……路端、２，
３……定点、４……糸、５……墨付、１０……直
線塗装、２０……レーザー発振機、２１……レー
ザー光線、２２……作業車、２３……レーザーセ
ンサー、２４……スプレーガン、２５……スプレ
ーガン駆動部、２６……ペイントポンプ部、３０
……一般車輛、３１，３２……角度センサーブロ
ツク、３３，３４……位置センサー、３５……モ
ーター、３６……プーリー、３７……ベルト、３
８……送りネジ、３９……ガイド、４０……ノ
ブ、４１……ホルダー、４２……ボールネジ、４
３……クラツチ付モーター、４４……クラツチ、
４５……回転軸、４６……支持板、４７……軸、
４８……演算器、４９……増巾器、５０……配
線。
Fig. 1 is an explanatory diagram of the conventional method, Fig. 2 is an explanatory diagram of the method using a laser beam, Fig. 3 is an explanatory diagram of the trajectory of the work vehicle, Fig. 4 is an explanatory diagram of the error occurrence situation, and Fig. 5 is an explanatory diagram of the method using a laser beam. 6 is a diagram showing the device of the present invention, FIG. 6 is a diagram showing the device of another invention, FIG. 7 is an explanatory diagram of the rotation device of the device of FIG. 6, and FIGS. Figures 10 and 11 are explanatory diagrams showing the configuration of the spray gun drive section, Figure 12 is an explanatory diagram showing the laser beam detection range of the work vehicle, and Figures 13 and 14. is a diagram showing the relationship between a laser beam and a general vehicle. Explanation of symbols, 1...road, 11...roadside, 2,
3... fixed point, 4... thread, 5... marking, 10... straight line painting, 20... laser oscillator, 21... laser beam, 22... work vehicle, 23... laser sensor, 24... spray gun , 25... Spray gun drive section, 26... Paint pump section, 30
... General vehicle, 31, 32 ... Angle sensor block, 33, 34 ... Position sensor, 35 ... Motor, 36 ... Pulley, 37 ... Belt, 3
8...Feed screw, 39...Guide, 40...Knob, 41...Holder, 42...Ball screw, 4
3... Motor with clutch, 44... Clutch,
45...rotating shaft, 46...support plate, 47...shaft,
48...Arithmetic unit, 49...Amplifier, 50...Wiring.
Claims (1)
で受けて追尾し、路面上に直線を塗装する道路標
示装置において、塗料を噴射するスプレーガンと
高指向性電磁波を受けるセンサーとを、施工すべ
きライン上に両者がのるように、施工ラインを含
む地面に垂直な面上にあるように設けてあること
を特徴とする道路標示装置。 ２ レーザー光線等の高指向性電磁波をセンサー
で受けて追尾し、路面上に直線を塗装する道路標
示装置において、スプレーガン駆動部にスプレー
ガン及びレーザーセンサーを設け、さらにレーザ
ーセンサーには、レーザー光線に対する駆動部の
傾きを感知するセンサーブロツクが備えられ、セ
ンサーブロツクからの信号により、駆動部を常に
レーザー光線に対して直角になるように回動させ
るように構成されていることを特徴とする道路標
示装置。[Claims] 1. A road marking device that receives and tracks highly directional electromagnetic waves such as laser beams with a sensor and paints a straight line on the road surface, which includes a spray gun that injects paint and a sensor that receives highly directional electromagnetic waves. A road marking device characterized in that it is installed on a plane perpendicular to the ground including the construction line so that both of them are on the construction line. 2. In a road marking device that receives and tracks highly directional electromagnetic waves such as laser beams with a sensor and paints a straight line on the road surface, the spray gun drive section is equipped with a spray gun and a laser sensor, and the laser sensor is equipped with a drive for the laser beam. 1. A road marking device comprising: a sensor block that detects the inclination of a portion of the road marking device; and a drive portion that is configured to always rotate at right angles to a laser beam in response to a signal from the sensor block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56085A JPS61162605A (en) | 1985-01-07 | 1985-01-07 | Road mark apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56085A JPS61162605A (en) | 1985-01-07 | 1985-01-07 | Road mark apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61162605A JPS61162605A (en) | 1986-07-23 |
| JPH0252044B2 true JPH0252044B2 (en) | 1990-11-09 |
Family
ID=11477104
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56085A Granted JPS61162605A (en) | 1985-01-07 | 1985-01-07 | Road mark apparatus |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61162605A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5651243A (en) * | 1979-10-01 | 1981-05-08 | Daicel Chem Ind Ltd | Recovery heteropoly-acid catalyst |
| JPS5651010B2 (en) * | 1972-06-07 | 1981-12-02 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5926241Y2 (en) * | 1979-09-26 | 1984-07-31 | 株式会社小松製作所 | Road surface roughness measuring device |
-
1985
- 1985-01-07 JP JP56085A patent/JPS61162605A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5651010B2 (en) * | 1972-06-07 | 1981-12-02 | ||
| JPS5651243A (en) * | 1979-10-01 | 1981-05-08 | Daicel Chem Ind Ltd | Recovery heteropoly-acid catalyst |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61162605A (en) | 1986-07-23 |
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| Date | Code | Title | Description |
|---|---|---|---|
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|
| EXPY | Cancellation because of completion of term |